#ifndef _UTILITY_DRIVABELSEG_H_
#define _UTILITY_DRIVABELSEG_H_

#include <ros/ros.h>
// VLP-16 or 禾赛 16
//#define hesai
#ifdef hesai
    #define _N_SCAN (16)
    #define _Horizon_SCAN (1800)
    #define _ang_res_x (0.2)
    #define _ang_res_y (2.0)
    #define _ang_bottom (15.0 + 0.1)
    #define _groundScanInd (7)
    #define CAR_HEIGHT 0.931
    #define _UseRangeMethod (true)//用深度图的方法去除地面
    #define _DRIVABLE_ANGLE_TH (15)
    #define _DRIVABLE_WIDTH_ANGLE_TH (10)
    #define _ScanEndRow (2)
    #define _Mindx (0.1)
    #define _Coefalpha (0.5)//计算可行驶区域的系数
    #define _sensorMinimumRange 0.1
#endif

#define _lidar_topic "hesai/pandar"
#define zvision_lidar_topic "/zvision_lidar_points_colored"
#define _SegObjPub_topic "/SegmentedObj"
#define _GroundPub_topic "/Ground"

#define WORK_SPACE_PATH "/home/fjy/Desktop/catkin_ws/chucao/Obstacle-Cluster/src/Obstacle-Cluster"

#define _UseRangeMethod (true)//用深度图的方法去除地面
#define _DRIVABLE_WIDTH_ANGLE_TH (10)
#define _ScanEndRow (2)
#define _Mindx (0.1)
#define _Coefalpha (0.5)//计算可行驶区域的系数
#define _sensorMinimumRange 0.1

//障碍物聚类参数
#define _segmentAlphaX 2.0/180*M_PI
#define _segmentAlphaY 0.2/180*M_PI
#define _segmentTheta 10.0 / 180.0 * M_PI
#define _segmentValidPointNum 5
#define _segmentValidLineNum 5


#define zvision

#ifdef zvision
    #define CAR_HEIGHT 0.408
    #define _DRIVABLE_ANGLE_TH (10)
    #define _ang_res_x 0.4375 //35.0/80
    #define _ang_res_y 0.4375 //35.0/80
    #define vertical_bottom 30.0//-20~30
    #define _ang_bottom 20.0
    #define horizon_bottom 35.0//-60~55 ->35~150
    #define horizon_FOV = 115;
    #define vertical_FOV 50.0
    #define sensorMinimumRange 0.1

    #define _N_SCAN 114 //floor(vertical_FOV/_ang_res_y)
    #define _Horizon_SCAN 240
#endif

#endif
